[iron] Gracefully handle SIGINT and SIGTERM in rosbag2 recorder (backport #1301) #1394
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* Gracefully handle SIGINT and SIGTERM signal for rosbag2 recorder - Call recorder->stop() and exec_->cancel() instead of rclcpp::shutdown Signed-off-by: Michael Orlov <michael.orlov@apex.ai> * Use singleton for static executor in the rosbag2_py::Recorder Signed-off-by: Michael Orlov <michael.orlov@apex.ai> * Rollback to the non-static executor and don't call executor->cancel() - In case when signal will arrive we will trigger our internal exit_ variable and wait while current exec_->spin_all(10msec) will exit. Signed-off-by: Michael Orlov <michael.orlov@apex.ai> * Spin recorder node in a separate thread for better handling exit - Run exec->spin() in a separate thread, because we need to call exec->cancel() after recorder->stop() to be able to send notifications about bag split and close. - Wait on conditional variable for exit_ flag Signed-off-by: Michael Orlov <michael.orlov@apex.ai> * Address race condition in rosbag2_py.test_record_cancel - Add `record_thread.join()` before trying to parse metadata. Signed-off-by: Michael Orlov <michael.orlov@apex.ai> --------- Signed-off-by: Michael Orlov <michael.orlov@apex.ai> (cherry picked from commit 46a23e9)
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MichaelOrlov
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Jun 13, 2023
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Gist: https://gist.githubusercontent.com/MichaelOrlov/8c4000f9f1873c8036c26eeab5853a76/raw/2f9d4cc37579cff174f4bd5ef80b2cde0ee59750/ros2.repos
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The test failure on Windows in the seems unrelated
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emersonknapp
approved these changes
Jun 13, 2023
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This is an automatic backport of pull request #1301 done by Mergify.
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